Work machine

Abstract

To provide a work machine capable of preventing damage to an unmanned flight body, and properly supporting work of a work machine by the unmanned flight body.SOLUTION: A work machine comprises: a vehicle body; a work device fitted to a vehicle body; a power source fitted to the vehicle body; and an unmanned flight body which flies by power supplied from the power source through a power supply cable. The work device has: a departure device which has a take-off / landing base where the unmanned flight body takes off and lands; and a cable fixing part for fixing the power supply cable. On at least one of the departure device and unmanned flight body, a fixing device for fixing the unmanned flight body to the take-off / landing base is provided. The departure device has a horizontal mechanism for making a posture of the take-off / landing base a horizontal posture when at least, the unmanned flight body takes off from the departure device, and lands on the departure device.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a working machine.

Background Art

[0002] In a work site where a working machine such as a disassembler performs work, a technique for assisting the work of the working machine using an unmanned aircraft such as a drone is known. Patent Document 1 discloses a working machine (crane) capable of supplying power to an unmanned aircraft (drone) via a power supply cable from a power supply device (power supply means) provided on the vehicle body.

[0003] Patent Document 1 discloses a form in which an unmanned aircraft and a working machine are connected and a fall prevention wire for preventing the fall of the unmanned aircraft is provided (see FIG. 1 of Patent Document 1), and a form in which the unmanned aircraft is slidably supported along a rail-shaped guide member (see FIG. 11 of Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In a working machine provided with a fall prevention wire (see FIG. 1 of Patent Document 1), when the unmanned aircraft is stopped, the unmanned aircraft is suspended by the fall prevention wire. Therefore, when the unmanned aircraft is stopped, there is a risk that the unmanned aircraft may be damaged due to contact between the unmanned aircraft and the working machine or contact between the unmanned aircraft and surrounding structures.

[0006] In a working machine provided with a rail-shaped guide member (see FIG. 11 of Patent Document 1), the unmanned aircraft can only move in the direction along the guide member, and it may be difficult to appropriately assist the work of the working machine.

[0007] The object of the present invention is to prevent damage to the unmanned aircraft and appropriately assist the operation of the work machine by the unmanned aircraft.

Means for Solving the Problems

[0008] A work machine according to an aspect of the present invention includes a vehicle body, a work device attached to the vehicle body, a power supply device attached to the vehicle body, and an unmanned aircraft that flies by power supplied from the power supply device via a power supply cable. In the work machine, the work device is provided with a landing / takeoff device having a landing / takeoff platform on which the unmanned aircraft lands and takes off, and a cable fixing portion for fixing the power supply cable. At least one of the landing / takeoff device and the unmanned aircraft is provided with a fixing device for fixing the unmanned aircraft to the landing / takeoff platform. The landing / takeoff device has a horizontal mechanism for placing the landing / takeoff platform in a horizontal posture at least when the unmanned aircraft takes off from the landing / takeoff device and when the unmanned aircraft lands on the landing / takeoff device.

Effects of the Invention

[0009] According to the present invention, damage to the unmanned aircraft can be prevented, and the operation of the work machine can be appropriately assisted by the unmanned aircraft.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

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Figure 18

MODE FOR CARRYING OUT THE INVENTION

[0011] With reference to the drawings, a working machine according to an embodiment of the present invention will be described.

[0012] <First Embodiment> In this embodiment, an example in which the working machine is a crawler-type demolition machine 1 will be described. FIG. 1 is a side view showing the demolition machine 1. In the following description, the front-rear, left-right, and up-down directions are defined mainly based on the operator on board the demolition machine 1.

[0013] As shown in FIG. 1, the demolition machine 1 includes a vehicle body 4 and a working device 6 attached to the vehicle body 4. The vehicle body 4 includes a traveling body 2 and a revolving body 5 provided so as to be rotatable with respect to the traveling body 2. The traveling body 2 has a pair of left and right crawlers (tracks). The traveling body 2 has a traveling motor (hydraulic actuator) 3 that drives the left and right crawlers. The traveling body 2 travels by driving the left and right crawlers with the traveling motor 3.

[0014] The revolving body 5 is connected to the traveling body 2 via a slewing device having a slewing motor (hydraulic actuator) 13. The revolving body 5 is driven by the slewing motor 13 to revolve with respect to the traveling body 2. The revolving body 5 includes a cab (operator's cab) 11 on which the operator rides and a building (machine room) 12 in which a hydraulic device such as an engine as a prime mover and a hydraulic pump are housed.

[0015] The working device 6 is an articulated front working device attached to the revolving body 5. The working device 6 has a plurality of hydraulic cylinders (hydraulic actuators) and a plurality of drive target members driven by the plurality of hydraulic cylinders. The working device 6 has a configuration in which four drive target members (boom 7, middle arm 8, arm 9, and crusher 10 as an attachment) are connected in series. The base end portion of the boom 7 is rotatably connected to the front portion of the revolving body 5 via a boom pin. The base end portion of the middle arm 8 is rotatably connected to the tip end portion of the boom 7 via a middle arm pin 8p. The base end portion of the arm 9 is rotatably connected to the tip end portion of the middle arm 8 via an arm pin 9p. The crusher 10 is rotatably connected to the tip end portion of the arm 9 via an attachment pin 10p. The crusher 10 is an attachment provided at the tip end of the working device 6. In the disassembler 1, as an attachment, a breaker, a grapple, or the like may be attached instead of the crusher 10.

[0016] The boom 7 is rotationally driven by the telescopic operation of a boom cylinder (hydraulic cylinder) 7a. The middle arm 8 is rotationally driven by the telescopic operation of a middle arm cylinder (hydraulic cylinder) 8s. The arm 9 is rotationally driven by the telescopic operation of an arm cylinder (hydraulic cylinder) 9a. The crusher 10 is rotationally driven by the telescopic operation of an attachment cylinder (hydraulic cylinder) 10a.

[0017] The disassembler 1 includes a power supply device 199 attached to the vehicle body 4, a drone 180 which is an unmanned aerial vehicle that flies by the power supplied via a power supply cable 190 from the power supply device 199, a landing and takeoff device 140 having a landing and takeoff platform 141 on which the drone 180 lands and takes off, and a cable fixing portion 130 for fixing the power supply cable 190. The landing and takeoff device 140 and the cable fixing portion 130 are provided on the middle arm 8 of the working device 6.

[0018] The power supply cable 190 includes a first cable 191 that connects the drone 180 and the cable fixing part 130, and a second cable 192 that connects the cable fixing part 130 and the power supply device 199. One end (base end) of the first cable 191 is fixed to the cable fixing part 130, and the other end (tip end) is connected to the drone 180. The first cable 191 has flexibility. The second cable 192 is attached along the left side surface of the middle arm 8 and the left side surface of the boom 7. The second cable 192 is fixed to the side surface of the working device 6 at a plurality of locations so as not to separate from the boom 7.

[0019] Figures 2 and 3 are perspective views of the drone 180, the landing and take-off device 140, and the cable fixing part 130. Figure 2 shows the state where the drone 180 is flying, and Figure 3 shows the state where the drone 180 is fixed to the landing and take-off device 140. In Figures 2 and 3, the illustration of the second cable 192 and the arm pin 9p etc. is omitted.

[0020] As shown in Figures 2 and 3, the middle arm 8 is formed as a box body with a quadrangular cross-section surrounded by a pair of left and right side plates 8a facing each other in the left-right direction at a certain interval, a back plate 8c connecting the upper ends of the left and right side plates 8a, and a bottom plate connecting the lower ends of the left and right side plates 8a facing the back plate 8c in the up-down direction.

[0021] The landing and take-off device 140 and the cable fixing part 130 are provided on the back plate 8c of the middle arm 8. The cable fixing part 130 fixes the first cable 191 and the second cable 192. The first cable 191 and the second cable 192 are electrically connected at the cable fixing part 130.

[0022] Figure 4 is a side view of the landing and take-off device 140 and the cable fixing part 130. As shown in Figure 4, the cable fixing part 130 is provided near the arm pin 9p, and the landing and take-off device 140 is provided near the middle arm pin 8p. That is, the cable fixing part 130 is provided on the tip side of the working device 6 rather than the landing and take-off device 140. The first cable 191 is longer than the length from the cable fixing part 130 to the landing and take-off device 140. Also, the first cable 191 is shorter than the length of the boom 7 (the length from the boom pin to the middle arm pin 8p).

[0023] Figure 5 is a side view of the landing and take-off device 140, showing an enlarged view of part V in Figure 4. Figure 6 is a rear view of the landing and take-off device 140. As shown in Figures 5 and 6, the landing and take-off device 140 has a rectangular flat landing and take-off platform 141, a pair of left and right connecting brackets 144 extending downward from the left and right end portions on the front side of the landing and take-off platform 141, and a pair of left and right support plates 143 rotatably connected to the pair of left and right connecting brackets 144 via a rotation shaft 142 and supporting the landing and take-off platform 141. The pair of support plates 143 are provided standing on the back plate 8c of the middle arm 8. The rotation shaft 142 of the landing and take-off device 140 extends from one of the pair of left and right support plates 143 to the other, and rotatably holds the landing and take-off platform 141. The rotation shaft 142 of the landing and take-off device 140 is provided parallel to the arm pin 9p, the middle arm pin 8p, and the boom pin.

[0024] On the back surface (lower surface) of the landing and take-off platform 141 on the rear end side (that is, the boom 7 side) of the landing and take-off platform 141, a fixing device 149 for fixing the drone 180 to the landing and take-off platform 141 is provided. The fixing device 149 includes an electromagnet chuck (magnetic chuck) 149a that can be switched between an adsorption state in which the drone 180 is adsorbed by magnetic force and fixed to the landing and take-off platform 141 and a non-adsorption state in which the drone 180 is not fixed. The fixing device 149 fixes the drone 180 to the surface (upper surface) of the landing and take-off platform 141 by the magnetic force of the electromagnet chuck 149a.

[0025] The permanent electromagnetic chuck 149a has a known configuration and, for example, includes a neodymium magnet, an alnico magnet, and a coil wound around the alnico magnet. The polarity of the alnico magnet is controlled by the direction of the current flowing through the coil, and even when the current flowing through the coil is cut off, its polarity is maintained. When adsorbing the drone 180, the polarity of the alnico magnet is controlled so that the magnetic flux formed by the neodymium magnet and the alnico magnet passes through the adsorption surface. When releasing the adsorption of the drone 180, the polarity of the alnico magnet is controlled so that the magnetic flux formed by the neodymium magnet and the alnico magnet does not pass through the adsorption surface. The permanent electromagnetic chuck 149a is controlled between an adsorbed state and a non-adsorbed state according to a control signal from a vehicle body controller 150 (see FIG. 1) mounted on the vehicle body 4. Note that illustration of the cable connecting the vehicle body controller 150 and the permanent electromagnetic chuck 149a is omitted.

[0026] The drone 180 is a multicopter including a housing 181 and four or more rotor blades 182 provided on the upper surface of the housing 181. Mounted on the housing 181 of the drone 180 are a flight controller 185 for controlling the rotor blades 182, a communication device 186 for communicating with the vehicle body controller 150, and a photographing device 187 for photographing the tip side of the working device 6. The photographing device 187 is, for example, a wide-angle video camera including an imaging element such as a CCD or a CMOS excellent in durability and weather resistance and a wide-angle lens. The rotor blades 182 are driven by an electric motor (not shown). By controlling the rotational speed of each rotor blade 182, the drone 180 performs ascending, descending, turning, hovering, etc. The communication device 186 performs wireless communication with a communication device 51 (see FIG. 1) provided on the vehicle body 4. An adsorption portion 183 formed of a material adsorbed by a magnet is provided at the lower end portion of the housing 181 of the drone 180. The adsorption portion 183 is formed of, for example, a metal material such as iron or an alloy.

[0027] FIG. 7 is a diagram for explaining the horizontal mechanism 147 of the landing and takeoff device 140. FIG. 7(a) shows a state in which the back plate 8c of the middle arm 8 is substantially parallel in the horizontal direction, and FIG. 7(b) shows a state in which the back plate 8c of the middle arm 8 is substantially parallel in the vertical direction. As shown in FIGS. 7(a) and 7(b), the fixing device 149 is provided on the rear end side of the rotation shaft 142. Therefore, due to the weight of the fixing device 149, a moment in the clockwise direction in the drawing is generated with the rotation shaft 142 as the center of rotation. Therefore, in the present embodiment, a weight 146 for holding the landing and takeoff platform 141 in a horizontal posture is provided at the front end portion of the landing and takeoff platform 141 (that is, the end portion on the arm 9 side).

[0028] The weight 146 is fixed to the tip end portion (lower end portion) of the support member 145 that extends vertically downward from the landing and takeoff platform 141. The weight 146 is disposed below the rotation shaft 142 that is the center of rotation of the landing and takeoff platform 141. The weight 146 is provided on the front end side of the rotation shaft 142. Therefore, due to the weight of the weight 146, a moment in the counterclockwise direction in the drawing is generated with the rotation shaft 142 as the center of rotation, and the moment due to the weight of the fixing device 149 can be offset.

[0029] In this way, the pair of support plates 143, the rotation shaft 142, the pair of connection brackets 144, the support member 145, and the weight 146 constitute a horizontal mechanism 147 that holds the landing and takeoff platform 141 provided with the fixing device 149 in a horizontal posture. Thereby, regardless of the posture of the middle arm 8, the landing and takeoff platform 141 is held in a horizontal posture. The horizontal mechanism 147 according to the present embodiment always makes the landing and takeoff platform 141 in a horizontal posture not only when the drone 180 lands and takes off from the landing and takeoff device 140.

[0030] Note that the drone 180 is sufficiently lightweight compared to the fixing device 149. Therefore, the landing platform 141 is maintained in a horizontal posture both when the drone 180 is fixed to the landing platform 141 and when the drone 180 is flying. The horizontal posture of the landing platform 141 refers to a posture in which the surface of the landing platform 141, which is the mounting surface of the drone 180, is substantially parallel to the horizontal direction (the direction perpendicular to the direction of gravity). That is, the horizontal posture of the landing platform 141 means a posture in which the surface of the landing platform 141 is substantially horizontal (for example, the angle formed by the surface of the landing platform 141 and the vertical direction is in the range of 80° to 100°, that is, the surface of the landing platform 141 is within the range of ±10° from the horizontal (a predetermined angle range)). Note that it is preferable that the landing platform 141 is in a posture within the range of ±5° from the horizontal, and more preferably in a posture within the range of ±3° from the horizontal.

[0031] FIG. 8 is a perspective view showing the inside of the cab 11. The operating devices installed in the cab 11 will be described with reference to FIG. 8. As shown in FIG. 8, in the cab 11, as operating devices, operating levers 31, 32, traveling pedals 33, 34, operating pedals 35, 36, a gate lock lever 37, and a console panel 38 are provided. Also, in the cab 11, a display device 39 such as a liquid crystal display is provided.

[0032] The console panel 38 is an input device that inputs input information according to the operation of the setting switch to the vehicle body controller 150. Note that the input device is not limited to the console panel 38, and may be configured by a touch sensor provided on the screen of the display device 39.

[0033] The operation levers 31 and 32 are each assigned, for each lever operation direction, any one of the telescopic operations of the boom cylinder 7a, the arm cylinder 9a, and the attachment cylinder 10a, and the left and right swiveling operations of the slewing body 5. The travel pedals 33 and 34 are each assigned the forward and reverse operations of the left and right crawlers (tracks). The operation pedal 35 is assigned, for each operation direction, the extension and contraction operations of the middle arm cylinder 8s. The operation pedal 36 is assigned, for each operation direction, the closing and opening operations of the crusher 10. Note that the operation device and the operation assignment method are not limited to this. For example, the extension operation of the middle arm cylinder 8s may be assigned to each operation direction of an operation lever (not shown).

[0034] The gate lock lever 37 is provided at the entrance and exit of the cab 11. The gate lock lever 37 is operated between a lock release position (lower position) where the lever is arranged to close the entrance and exit and a lock position (upper position) where the lever is arranged to open the entrance and exit. When the gate lock lever 37 is operated to the lock position (upper position) during the operation of the disassembling machine 1, the operations of the operation levers 31 and 32, the travel pedals 33 and 34, and the operation pedals 35 and 36 are invalidated. Therefore, the operations of the working device 6, the slewing body 5, and the traveling body 2 corresponding to the operations of the operation levers 31 and 32, the travel pedals 33 and 34, and the operation pedals 35 and 36 are not performed. When the gate lock lever 37 is tilted and operated to the lock release position (lower position) during the operation of the disassembling machine 1, the working device 6, the slewing body 5, and the traveling body 2 operate according to the operations of the operation levers 31 and 32, the travel pedals 33 and 34, and the operation pedals 35 and 36.

[0035] The console panel 38 is provided with setting switches for setting the flight conditions of the drone 180. The operation lever 32 is provided with a takeoff switch 30a which is an indicating device for instructing the start (takeoff) of the flight of the drone 180, and a landing switch 30b which is an indicating device for instructing the end (landing) of the flight of the drone 180. Note that the arrangement locations of the takeoff switch 30a, the landing switch 30b, and the setting switches are not limited to the above-described example. The operation signals of the takeoff switch 30a, the landing switch 30b, and the setting switches are output to a vehicle body controller 150 (see FIG. 1) mounted on the vehicle body 4 (swiveling body 5).

[0036] Based on the instructions from the indicating devices (30a, 30b), the vehicle body controller 150 controls the drone 180 and the fixing device 149. Based on the instructions (operation signals) from the indicating devices (30a, 30b), the vehicle body controller 150 generates a control command for the drone 180 and transmits the generated control command to the drone 180 via the communication device 51. The flight controller 185 of the drone 180 controls the speed of the rotary wings 182 based on the control command received via the communication device 186.

[0037] Both the vehicle body controller 150 and the flight controller 185 have the same hardware configuration. Referring to FIG. 9, the vehicle body controller 150 and the flight controller 185 are collectively referred to as the controller 100, and their hardware configuration will be described.

[0038] As shown in FIG. 9, the controller 100 is composed of a computer including a processing device 101 such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), or DSP (Digital Signal Processor), a non-volatile memory 102 such as a ROM (Read Only Memory), flash memory, or hard disk drive, a volatile memory 103 called a so-called RAM (Random Access Memory), an input interface 104, an output interface 105, and other peripheral circuits. These hardware components cooperate to operate software and realize a plurality of functions. Note that the controller 100 may be composed of one computer or a plurality of computers. Also, as the processing device 101, an ASIC (application specific integrated circuit), FPGA (Field Programmable Gate Array), etc. can be used.

[0039] The non-volatile memory 102 stores programs capable of executing various operations, thresholds, data tables, etc. That is, the non-volatile memory 102 is a storage medium (storage device) capable of reading a program for realizing the functions of the present embodiment. The volatile memory 103 is a storage medium (storage device) that temporarily stores the operation results by the processing device 101 and the signals input from the input interface 104. The processing device 101 is a device that expands the program stored in the non-volatile memory 102 into the volatile memory 103 and executes operations. The processing device 101 performs predetermined arithmetic processing on the data taken in from the input interface 104, non-volatile memory 102, and volatile memory 103 according to the program.

[0040] The input interface 104 converts the signals input from various devices into data that can be processed by the processing device 101. Also, the output interface 105 generates an output signal corresponding to the operation result of the processing device 101 and outputs the signal to various devices.

[0041] FIG. 10 is a diagram showing the exchange of information between the vehicle body controller 150 and the flight controller 185. As shown in FIG. 10, the vehicle body controller 150 and the flight controller 185 exchange information (data) with each other by wireless communication via the communication devices 51 and 186. The communication devices 51 and 186 exchange data with the drone 180 using a communication method such as Wi-Fi (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), etc.

[0042] The vehicle body controller 150 is connected to an attitude detection device 50 and a vehicle body position detection device 60. The attitude detection device 50 includes a boom angle sensor attached to the boom 7, a middle arm angle sensor attached to the middle arm 8, an arm angle sensor attached to the arm 9, an attachment angle sensor attached to the crusher 10, and a vehicle body tilt angle sensor attached to the slewing body 5. The attitude detection device 50 acquires the angle information detected by these angle sensors as the attitude information of the working device 6 and outputs a signal according to the information. The attitude detection device 50 includes, for example, an IMU (Inertial Measurement Unit) that acquires the angular velocity and acceleration of the three orthogonal axes of each drive target member (boom 7, middle arm 8, arm 9, and crusher 10) and the slewing body 5 that make up the working device 6, and an angle calculation device that calculates the boom angle, middle arm angle, arm angle, attachment angle, and vehicle body tilt angle based on the information acquired by the IMU. Note that a potentiometer can also be adopted as the angle sensor.

[0043] The vehicle body position detection device 60 is attached to the revolving body 5 and detects the position and orientation of the revolving body 5 (vehicle body 4). For example, the vehicle body position detection device 60 includes a plurality of antennas for GNSS (Global Navigation Satellite System) (hereinafter referred to as GNSS antennas), and based on satellite signals (GNSS radio waves) from a plurality of positioning satellites received by the GNSS antennas, it calculates the position coordinates (position information) of the revolving body 5 in the geographical coordinate system (global coordinate system) and the azimuth angle (azimuth information), which is the angle from the reference azimuth.

[0044] Based on the detection results of the vehicle body position detection device 60, the vehicle body controller 150 calculates the position and azimuth angle of the revolving body 5 in the geographical coordinate system, and based on the calculation results and the detection results of the attitude detection device 50, it calculates the position and attitude of the working device 6 in the geographical coordinate system. The shape data (relative position of the boom pin with respect to the GNSS antenna, length from the boom pin to the middle arm pin 8p, length from the middle arm pin 8p to the arm pin 9p, length from the arm pin 9p to the attachment pin 10p, etc.) used for calculating the position and attitude of the working device 6 is stored in the non-volatile memory 102. The vehicle body controller 150 calculates, for example, the positions of the arm pin 9p and the attachment pin 10p, that is, the attitude of the arm 9. Among the calculation results, the vehicle body controller 150 transmits the information necessary for the flight control of the drone 180 to the flight controller 185.

[0045] A flying body position detection device 70 for detecting the position of the drone 180 is connected to the flight controller 185. The flying body position detection device 70 is provided on the housing 181 of the drone 180. Similar to the vehicle body position detection device 60, the flying body position detection device 70 calculates the position information and azimuth information of the drone 180 in the geographical coordinate system based on GNSS radio waves. The flight controller 185 calculates the position and azimuth angle of the drone 180 in the geographical coordinate system based on the detection results of the flying body position detection device 70. The flight controller 185 transmits the position information of its own aircraft to the vehicle body controller 150.

[0046] The flight controller 185 is connected to an imaging device 187 that captures the area around the crusher 10. The imaging device 187 is provided on the front surface of the housing 181 of the drone 180 (see FIG. 5). The flight controller 185 transmits the data of the image captured by the imaging device 187 to the vehicle body controller 150. The vehicle body controller 150 outputs the received image data to the display device 39. The display device 39 displays an image corresponding to the data acquired from the vehicle body controller 150 on the display screen. The vehicle body controller 150 and the flight controller 185 perform data transmission and reception at a predetermined control cycle.

[0047] FIG. 11 is a functional block diagram of the vehicle body controller 150. As shown in FIG. 11, the disassembling machine 1 includes a vehicle operation detection device 160 and a flight operation detection device 30. The flight operation detection device 30 includes an operation sensor that detects an operation of the takeoff switch 30a and an operation sensor that detects an operation of the landing switch 30b. The flight operation detection device 30 detects an operation for an instruction to take off by the takeoff switch 30a and outputs a takeoff instruction signal representing the detection result to the vehicle body controller 150. The flight operation detection device 30 detects an operation for an instruction to land by the landing switch 30b and outputs a landing instruction signal representing the detection result to the vehicle body controller 150.

[0048] The vehicle operation detection device 160 includes an operation amount sensor that detects the operation direction and operation amount of the operation levers 31 and 32, the travel pedals 33 and 34, and the operation pedals 35 and 36, and an operation position sensor that detects the operation position of the gate lock lever 37. The vehicle operation detection device 160 detects the operations (work operations) of the boom cylinder 7a, the middle arm cylinder 8s, the arm cylinder 9a, and the attachment cylinder 10a by the operator, and outputs a work operation signal representing the detection result to the vehicle body controller 150. The vehicle operation detection device 160 detects the operation (swing operation) of the swing motor 13 by the operator, and outputs a swing operation signal representing the detection result to the vehicle body controller 150. The vehicle operation detection device 160 detects the operations (travel operations) of the left and right travel motors 3 by the operator, and outputs a travel operation signal representing the detection result to the vehicle body controller 150.

[0049] By executing the program stored in the non-volatile memory 102, the vehicle body controller 150 functions as a flight operation determination unit 111, an operation determination unit 112, a mode setting unit 113, a fixing control unit 114, and a flight control unit 115.

[0050] Based on the detection result of the flight operation detection device 30, the flight operation determination unit 111 determines whether the takeoff switch 30a and the landing switch 30b have been operated. Based on the detection result of the vehicle operation detection device 160, the operation determination unit 112 determines whether the work device 6, the swing body 5, and the traveling body 2 are operating. Based on the determination result of the operation determination unit 112 and the determination result of the flight operation determination unit 111, the mode setting unit 113 sets the control mode to any one of a standby mode, a takeoff mode, a follow mode, and a landing mode. The flight control unit 115 generates a control command for controlling the drone 180 according to the set control mode, and transmits it to the drone 180 via the communication device 51. The fixing control unit 114 controls the fixing device 149 according to the set control mode.

[0051] Referring to FIGS. 12 and 13, the details of each function shown in FIG. 11 will be described. FIG. 12 is a flowchart showing an example of the process flow of takeoff control executed by the vehicle body controller 150. The flowchart shown in FIG. 12 is started, for example, when the ignition switch is turned on and the control mode is set to the standby mode in the initial setting, and is repeatedly executed at a predetermined control cycle. When the disassembling machine 1 is stopped, the permanent magnet chuck 149a of the fixing device 149 is in the adsorbed state, and the adsorbed state is maintained even after the ignition switch is turned on and the disassembling machine 1 starts operating. Therefore, the drone 180 is fixed to the takeoff / landing platform 141 by the fixing device 149.

[0052] As shown in FIG. 12, in step S105, the flight operation determination unit 111 determines whether the takeoff switch 30a has been operated. When the flight operation determination unit 111 acquires the takeoff instruction signal output from the takeoff switch 30a, it determines that the takeoff switch 30a has been operated and advances the process to step S110. When the flight operation determination unit 111 has not acquired the takeoff instruction signal from the takeoff switch 30a (that is, when the takeoff instruction signal is not output from the takeoff switch 30a), the process shown in the flowchart of FIG. 12 in this control cycle is terminated.

[0053] In step S110, the operation determination unit 112 determines whether the working device 6 is operating based on the work operation signal from the vehicle operation detection device 160. The work operation signal includes the operation amount of the boom 7, the operation amount of the middle arm 8, the operation amount of the arm 9, and the operation amount of the crusher 10. When at least any one of the operation amounts included in the work operation signal is equal to or greater than the work operation amount threshold value, the operation determination unit 112 determines that the working device 6 is operating. When all of the operation amounts included in the work operation signal are less than the work operation amount threshold value, the operation determination unit 112 determines that the working device 6 is stopped. The work operation amount threshold value is a threshold value for determining whether the drive target members (boom 7, middle arm 8, arm 9, and crusher 10) constituting the working device 6 are stopped, and is stored in the non-volatile memory 102 in advance. When it is determined that the working device 6 is stopped, the process proceeds to step S115. When it is determined that the working device 6 is operating, the process shown in the flowchart of FIG. 12 in this control cycle ends.

[0054] In step S115, the operation determination unit 112 determines whether the revolving body 5 is operating based on the slewing operation signal from the vehicle operation detection device 160. The slewing operation signal includes the operation amount of the revolving body 5. When the operation amount of the revolving body 5 is equal to or greater than the slewing operation amount threshold value, the operation determination unit 112 determines that the revolving body 5 is operating. When the operation amount of the revolving body 5 is less than the slewing operation amount threshold value, the operation determination unit 112 determines that the revolving body 5 is stopped. The slewing operation amount threshold value is a threshold value for determining whether the revolving body 5 is stopped, and is stored in the non-volatile memory 102 in advance. When it is determined that the revolving body 5 is stopped, the process proceeds to step S120. When it is determined that the revolving body 5 is operating, the process shown in the flowchart of FIG. 12 in this control cycle ends.

[0055] In step S120, the operation determination unit 112 determines whether the traveling body 2 is operating based on the traveling operation signal from the vehicle operation detection device 160. The traveling operation signal includes the operation amount of the left crawler of the traveling body 2 and the operation amount of the right crawler. The operation determination unit 112 determines that the traveling body 2 is operating when at least either the operation amount of the left crawler or the operation amount of the right crawler is equal to or greater than the traveling operation amount threshold. The operation determination unit 112 determines that the traveling body 2 is stopped when both the operation amount of the left crawler and the operation amount of the right crawler are less than the traveling operation amount threshold. The traveling operation amount threshold is a threshold for determining whether the traveling body 2 is stopped and is stored in the non-volatile memory 102 in advance. When it is determined that the traveling body 2 is stopped, the process proceeds to step S125. When it is determined that the traveling body 2 is operating, the process shown in the flowchart of FIG. 12 in this control cycle ends.

[0056] In step S125, the mode setting unit 113 sets the takeoff mode in the control mode. That is, the control mode changes from the standby mode, which is the initial mode, to the takeoff mode.

[0057] In the next step S130, the fixed control unit 114 outputs an unlocking command to the fixing device 149 of the landing / takeoff device 140. When the unlocking command is input to the fixing device 149, the permanent magnet chuck shifts from the attracted state to the non-attracted state. That is, the fixing of the drone 180 by the fixing device 149 is released.

[0058] In the next step S135, the flight control unit 115 transmits a takeoff command to the flight controller 185 of the drone 180 via the communication device 51. The takeoff command includes a control command to start the flight of the drone 180 and information on the target position. When the flight controller 185 receives the takeoff command via the communication device 186, it rotates the rotor 182 to start the flight (i.e., take off from the takeoff / landing platform 141). The flight controller 185 controls the rotation speed of the rotor 182 to fly the drone 180 towards the target position. The flight controller 185 transmits the position information of its own aircraft (drone 180) to the vehicle body controller 150 via the communication device 186. The transmission process of the position information from the flight controller 185 to the vehicle body controller 150 is repeatedly executed at a predetermined control cycle.

[0059] In the next step S140, based on the position information of the drone 180 acquired by the flight control unit 115 via the communication device 51, the flight control unit 115 determines whether the drone 180 has reached the target position. When it is determined that the drone 180 has reached the target position, the flight control unit 115 regards the takeoff as completed and proceeds with the process to step S145. The determination process (step S140) as to whether the takeoff of the drone 180 is completed is repeatedly executed at a predetermined control cycle until the drone 180 reaches the target position.

[0060] In step S145, the mode setting unit 113 sets the control mode to the follow mode and ends the process shown in the flowchart of FIG. 12 in this control cycle. As described above, even when it is determined that there is a takeoff instruction, the vehicle body controller 150 maintains the standby mode (initial mode) when it is determined that at least any one of the working device 6, the slewing body 5, and the traveling body 2 is operating (Yes in any of steps S110, S115, S120). On the other hand, when it is determined that there is a takeoff instruction and it is determined that none of the working device 6, the slewing body 5, and the traveling body 2 is operating, the vehicle body controller 150 sets the takeoff mode (No in any of steps S110, S115, S120).

[0061] When the control mode changes from the takeoff mode to the follow mode, the flight control unit 115 transmits a follow command to the flight controller 185 of the drone 180 via the communication device 51. When receiving the follow command, the flight controller 185 controls the flight of the drone 180 so that the position of its own aircraft is maintained at the fixed point position (fixed point coordinates) of the arm coordinate system. The arm coordinate system is a coordinate system based on the arm 9 of the working device 6. The arm coordinate system is defined, for example, as a coordinate system with the center of the attachment pin 10p as the origin. In the arm coordinate system, the axis parallel to the attachment pin 10p is defined as the y-axis. In the arm coordinate system, the axis passing through the centers of the attachment pin 10p and the arm pin 9p is defined as the x-axis, and the axis orthogonal to the y-axis and the x-axis is defined as the z-axis.

[0062] The flight controller 185 acquires the geodetic coordinate system coordinates representing the positions of the attachment pin 10p and the arm pin 9p from the vehicle body controller 150. The flight controller 185 converts each of the geodetic coordinate system coordinates representing the position of its own aircraft and the geodetic coordinate system coordinates representing the positions of the attachment pin 10p and the arm pin 9p into arm coordinate system coordinates.

[0063] When the posture of the arm 9 (the positions of the attachment pin 10p and the arm pin 9p) changes due to the operation of the working device 6, the flight controller 185 moves the drone 180 according to the change in the posture of the arm 9. Note that the flight control method of the drone 180 when the follow mode is set is not limited to this. For example, the flight controller 185 may control the flight of the drone 180 so that the drone 180 maintains a certain distance from a predetermined position (for example, the attachment pin 10p) of the arm 9 based on the image data of the arm 9 captured by the imaging device 187.

[0064] When the follow mode is set, the flight position of the drone 180 can be changed by the operator operating the console panel 38. Note that the flight control of the drone 180 when the disassembler 1 is working may be manually performed by a remote control device. In this case, the remote control device is operated by the operator. The operator operates the drone 180 outside the disassembler 1 in cooperation with the operator of the disassembler 1.

[0065] FIG. 13 is a flowchart showing an example of the processing flow of landing control executed by the vehicle body controller 150. The flowchart shown in FIG. 13 is started when the control mode is set to the follow mode and is repeatedly executed at a predetermined control cycle. Note that in the follow mode, the permanent magnet chuck 149a of the fixing device 149 maintains a non-adsorbed state.

[0066] As shown in FIG. 13, in step S155, the flight operation determination unit 111 determines whether the landing switch 30b has been operated. When the flight operation determination unit 111 acquires the landing instruction signal output from the landing switch 30b, it determines that the landing switch 30b has been operated and advances the process to step S160. When the flight operation determination unit 111 has not acquired the landing instruction signal from the landing switch 30b (that is, when the landing instruction signal is not output from the landing switch 30b), the process shown in the flowchart of FIG. 13 in this control cycle is terminated.

[0067] The processes in steps S160, S165, and S170 are the same as the processes in steps S110, S115, and S120, respectively, and thus the description thereof is omitted. When it is determined in step S170 that the traveling body 2 has stopped, the process advances to step S175.

[0068] In step S175, the mode setting unit 113 sets the landing mode in the control mode. That is, the control mode changes from the follow mode to the landing mode.

[0069] In the next step S180, the fixing control unit 114 outputs a locking command to the fixing device 149 of the landing / takeoff device 140. When the locking command is input to the fixing device 149, the permanent magnetic chuck 149a shifts from the non-adsorbing state to the adsorbing state.

[0070] In the next step S185, the flight control unit 115 transmits a landing command to the flight controller 185 of the drone 180 via the communication device 51. The landing command includes a control command to end the flight of the drone 180 and the position of the landing / takeoff platform 141. When the flight controller 185 receives the landing command via the communication device 186, it controls the rotation speed of the rotor blades 182 to fly the drone 180 toward the landing / takeoff platform 141. The flight controller 185 transmits the position information of its own aircraft (drone 180) to the vehicle body controller 150 via the communication device 186. The transmission process of the position information from the flight controller 185 to the vehicle body controller 150 is repeatedly executed at a predetermined control cycle.

[0071] The flight controller 185 controls the imaging device 187 to image the landing / takeoff platform 141 which is the landing destination. The landing / takeoff platform 141 is provided with a two-dimensional marker. Based on the imaged image data of the two-dimensional marker, the flight controller 185 controls the rotor blades 182 to land the drone 180 on the landing / takeoff platform 141.

[0072] In the next step S190, based on the position information of the drone 180 acquired via the communication device 51, the flight control unit 115 determines whether the drone 180 has reached the landing / takeoff platform 141. If the flight control unit 115 determines that the drone 180 has reached the landing / takeoff platform 141, it regards the landing as completed and proceeds with the process to step S195. The determination process (step S190) as to whether the landing of the drone 180 is completed is repeatedly executed at a predetermined control cycle until the drone 180 reaches the landing / takeoff platform 141.

[0073] In step S195, the mode setting unit 113 sets the control mode to the standby mode and ends the processing shown in the flowchart of FIG. 13 in the present control cycle. As described above, even when the vehicle body controller 150 determines that there is a landing instruction, when it determines that at least any one of the working device 6, the revolving body 5, and the traveling body 2 is operating, the tracking mode is maintained (Yes in any of steps S160, S165, and S170). On the other hand, when the vehicle body controller 150 determines that there is a landing instruction and determines that none of the working device 6, the revolving body 5, and the traveling body 2 is operating, the landing mode is set (No in all of steps S160, S165, and S170).

[0074] According to the above-described embodiment, the following operational effects are achieved.

[0075] (1) The disassembling machine (working machine) 1 includes a vehicle body 4, a working device 6 attached to the vehicle body 4, a power supply device 199 attached to the vehicle body 4, and a drone (unmanned aerial vehicle) 180 that flies by power supplied from the power supply device 199 via a power supply cable 190. The working device 6 is provided with a landing / takeoff device 140 having a landing / takeoff platform 141 on which the drone 180 lands and takes off, and a cable fixing portion 130 for fixing the power supply cable 190. The landing / takeoff device 140 is provided with a fixing device 149 for fixing the drone 180 to the landing / takeoff platform 141. The landing / takeoff device 140 has a horizontal mechanism 147 for making the landing / takeoff platform 141 in a horizontal posture at least when the drone 180 takes off from the landing / takeoff device 140 and when the drone 180 lands on the landing / takeoff device 140.

[0076] In this configuration, since the drone 180 is fixed to the takeoff / landing platform 141, when the drone 180 is stopped, it is prevented from contacting and being damaged by surrounding structures or the working device 6. Also, the drone 180 can move away from the cable fixing portion 130 by a distance corresponding to the length of the first cable 191, which is the power supply cable 190 connecting the drone 180 and the cable fixing portion 130, with respect to the cable fixing portion 130. That is, the flight range of the drone 180 can be set according to the length of the first cable 191. Thereby, the situation around the crusher 10 can be appropriately monitored. That is, according to the present embodiment, damage to the stopped drone 180 can be prevented, and the work of the disassembler 1 can be appropriately supported by the drone 180.

[0077] In addition, when taking off the drone 180 when the takeoff / landing platform 141 is not in a horizontal posture, when the fixing of the drone 180 is released, the drone 180 may fall from the takeoff / landing platform 141 and the drone 180 may contact the working device 6 or surrounding structures. Also, when landing the drone 180 when the takeoff / landing platform 141 is not in a horizontal posture, there is a possibility that the drone 180 may not be able to land on the takeoff / landing platform 141. In contrast, in the present embodiment, since the takeoff / landing platform 141 is held in a horizontal posture, the drone 180 can be appropriately taken off and landed. As a result, damage to the drone 180 during takeoff and landing can be prevented.

[0078] (2) The disassembling machine 1 is provided with a takeoff switch 30a and a landing switch 30b as instruction devices for instructing the takeoff and landing of the drone 180. The vehicle body controller (control device) 150 controls the drone 180 and the fixing device 149 based on the instructions from the takeoff switch 30a and the landing switch 30b. The vehicle body controller 150 determines whether the working device 6, the slewing body 5, and the traveling body 2 are operating (S110, S115, S120 in FIG. 12, S160, S165, S170 in FIG. 13). When at least any one of the working device 6, the slewing body 5, and the traveling body 2 is operating, even if the landing of the drone 180 is instructed by the landing switch 30b, the vehicle body controller 150 does not land the drone 180 on the takeoff / landing platform 141 and maintains the flight of the drone 180 (Yes in any one of the processes of S160, S165, S170 in FIG. 13). When none of the working device 6, the slewing body 5, and the traveling body 2 is operating and the landing of the drone 180 is instructed by the landing switch 30b, the vehicle body controller 150 lands the drone 180 on the takeoff / landing platform 141 and fixes the drone 180 to the takeoff / landing platform 141 by the fixing device 149 (S175, S180, S185 in FIG. 13).

[0079] When the disassembling machine 1 is operating, there is a risk that the drone 180 may be damaged due to contact between the drone 180 and the disassembling machine 1 in a scene such as immediately before the landing of the drone 180. Also, when the disassembling machine 1 is operating, it takes time to land the drone 180. In contrast, in this embodiment, when the disassembling machine 1 is operating, the drone 180 is not landed on the takeoff / landing platform 141. Therefore, damage to the drone 180 due to contact between the drone 180 and the disassembling machine 1 can be prevented. According to this embodiment, since the drone 180 is landed on the takeoff / landing platform 141 when the disassembling machine 1 is stopped, the drone 180 can be smoothly landed on the takeoff / landing platform 141.

[0080] (3) When at least one of the working device 6, the slewing body 5, and the traveling body 2 is operating while the drone 180 is fixed to the takeoff / landing platform 141 by the fixing device 149, even if the takeoff of the drone 180 is instructed by the takeoff switch 30a, the fixing of the drone 180 by the fixing device 149 is maintained (Yes in any of the processes S110, S115, S120 in FIG. 12). When none of the working device 6, the slewing body 5, and the traveling body 2 is operating while the drone 180 is fixed to the takeoff / landing platform 141 by the fixing device 149 and the takeoff of the drone 180 is instructed by the takeoff switch 30a, the fixing of the drone 180 by the fixing device 149 is released and the drone 180 is allowed to take off (S125, S130, S135 in FIG. 12).

[0081] When the disassembling machine 1 is operating, there is a risk that the drone 180 may be damaged due to contact between the drone 180 and the disassembling machine 1 in a scene such as immediately after the takeoff of the drone 180. In contrast, in the present embodiment, when the disassembling machine 1 is operating, the drone 180 is not allowed to take off from the takeoff / landing platform 141. Therefore, damage to the drone 180 due to contact between the drone 180 and the disassembling machine 1 can be prevented.

[0082] (4) The cable fixing portion 130 is provided on the tip side of the working device 6 rather than on the takeoff / landing device 140 (see FIG. 1). The drone 180 often flies on the tip side of the working device 6 in order to photograph the tip side of the working device 6. Therefore, in the configuration of the present embodiment, the length of the first cable 191 can be shortened as compared with the case where the cable fixing portion 130 is provided on the rear end side of the working device 6 rather than on the takeoff / landing device 140. The first cable 191 floats in the air, and the drone 180 needs to support the first cable 191 during flight. If the cable fixing portion 130 is provided on the slewing body 5, in order to fly the drone 180 while supporting the first cable 191, the drone 180 is forced to have higher output and larger size. In contrast, in the present embodiment, since the length of the first cable 191 can be shortened, an increase in the output and size of the drone 180 can be prevented.

[0083] (5) The horizontal mechanism 147 has a rotation shaft 142 that rotatably holds the takeoff / landing platform 141, and a weight 146 for holding the takeoff / landing platform 141 in a horizontal posture (see FIGS. 5 to 7). Here, the horizontal posture means a posture in which the drone 180 placed on the takeoff / landing platform 141 does not fall off the takeoff / landing platform 141 due to its own weight even when it is not fixed, and the surface of the takeoff / landing platform 141 (the placement surface of the drone 180) is within a predetermined angular range from the horizontal. According to this configuration, the takeoff / landing platform 141 can always be in a horizontal posture regardless of the postures of the working device 6 and the vehicle body 4.

[0084] <Second Embodiment> With reference to FIGS. 14 to 16, the disassembling machine 1 according to the second embodiment of the present invention will be described. Note that the same or corresponding components as those described in the first embodiment are denoted by the same reference numerals, and the differences will be mainly described.

[0085] FIGS. 14 and 16 are side views of the takeoff / landing device 240 according to the second embodiment, and FIG. 15 is a rear view of the takeoff / landing device 240 according to the second embodiment. FIGS. 14 and 15 show a state in which the back plate 8c of the middle arm 8 is substantially parallel in the horizontal direction. FIG. 16 shows a state in which the back plate 8c of the middle arm 8 is substantially parallel in the vertical direction. In the first embodiment, the cable fixing portion 130 was provided at a predetermined distance from the takeoff / landing device 140 (see FIG. 4). In contrast, in the second embodiment, the cable fixing portion is integrated with the takeoff / landing device 240. Further, the winch 260 including the cable fixing portion has the function of the weight 146 described in the first embodiment. Hereinafter, the second embodiment will be described in detail.

[0086] As shown in FIGS. 14 to 16, the take-off and landing device 240 includes a rectangular flat take-off and landing platform 141, a pair of left and right connecting brackets 244 extending downward from the left and right end portions on the front side of the take-off and landing platform 141, a pair of left and right support plates 143 rotatably connected to the pair of left and right connecting brackets 244 via a rotating shaft 142 and supporting the take-off and landing platform 141, a fixing device 149 for fixing the drone 180 to the take-off and landing platform 141, and a winch 260 provided on the pair of left and right connecting brackets 244.

[0087] The winch 260 is a winding device capable of winding a first cable 191 which is a power supply cable 190 connected to the drone 180. The winch 260 includes a drum 261 and an electric motor 262 for rotationally driving the drum 261. The drum 261 has a cylindrical winding cylinder 263 around which the first cable 191 is wound, and a pair of left and right disc-shaped flanges 264 provided at both ends of the winding cylinder 263 in the central axis direction. The rotation central axis of the winch 260 is parallel to the rotating shaft 142.

[0088] The base end portion (one end portion) of the first cable 191 is fixed to the winding cylinder 263 of the drum 261, and the tip end portion (the other end portion) is connected to the drone 180. That is, in the second embodiment, the winding cylinder 263 of the drum 261 functions as a cable fixing portion. The total weight of the electric motor 262 and the drum 261 is sufficiently larger than the weight of the fixing device 149. The winch 260 is attached to the take-off and landing platform 141 such that the center of gravity of the winch 260 is below the rotating shaft 142 so as to function as a counterweight. Thus, in the second embodiment, since the winch 260 has the same function as the counterweight 146 described in the first embodiment, the take-off and landing platform 141 is always held in a horizontal posture regardless of the postures of the working device 6 and the vehicle body 4.

[0089] In the second embodiment, a pair of support plates 143, a rotating shaft 142, a pair of connecting brackets 244, and a winch 260 constitute a horizontal mechanism 247 that holds the takeoff / landing platform 141 provided with the fixing device 149 in a horizontal posture. As a result, as shown in FIGS. 14 and 16, the takeoff / landing platform 141 is held in a horizontal posture regardless of the posture of the middle arm 8.

[0090] FIG. 17 is a functional block diagram of the vehicle body controller 250 according to the second embodiment. The electric motor 262 of the winch 260 is connected to the vehicle body controller 250 and the power supply device 199 (see FIG. 1). The electric motor 262 rotates by the electric power supplied from the power supply device 199. The rotation direction and rotation speed of the electric motor 262 are controlled based on a control command from the vehicle body controller 250.

[0091] In addition to the functions described in the first embodiment, the vehicle body controller 250 has a function as a winch control unit 216. When the control mode is switched from the standby mode to the takeoff mode, the winch control unit 216 rotates the electric motor 262 in the forward direction. As a result, the first cable 191 is paid out from the drum 261. When the control mode is switched from the follow mode to the landing mode, the winch control unit 216 rotates the electric motor 262 in the reverse direction. As a result, the first cable 191 is wound around the drum 261. Note that the winch control unit 216 may adjust the payout amount of the first cable 191 according to the flight position of the drone 180 when the follow mode is set.

[0092] According to the second embodiment, in addition to the same operational effects as those of the first embodiment, the following operational effects are achieved.

[0093] (1) The cable fixing part is provided on a winch (winding device) 260 that can wind up a first cable 191 which is a power supply cable 190 connected to the drone 180. Specifically, the winding cylinder 263 of the drum 261 constituting the winch 260 functions as the cable fixing part. According to this configuration, the length of the first cable 191, that is, the flight range of the drone 180, can be adjusted by the winch 260.

[0094] (2) The winch 260 is attached to the take-off and landing platform 141 so that the center of gravity of the winch 260 is below the rotation axis 142, and functions as a weight for maintaining the take-off and landing platform 141 in a horizontal posture. According to this configuration, there is no need to provide a weight separately from the winch 260. Therefore, the number of components can be reduced.

[0095] The following modifications are also within the scope of the present invention, and it is also possible to combine the configurations shown in the modifications with the configurations described in the above embodiments, combine the configurations described in the above different embodiments with each other, or combine the configurations described in the following different modifications with each other.

[0096] <Modification 1> In the first embodiment, the horizontal mechanism 147 that makes the take-off and landing platform 141 in a horizontal posture by using the gravity acting on the weight 146 was described. In the second embodiment, the horizontal mechanism 247 that makes the take-off and landing platform 141 in a horizontal posture by using the gravity acting on the winch 260 as a weight was described. However, the configuration of the horizontal mechanism is not limited to these.

[0097] <Modification 1-1> For example, as shown in FIG. 18, the horizontal mechanism 347 may have an electric motor 347m that rotates the takeoff / landing platform 141 via the rotation shaft 142. In the example shown in FIG. 18, an electric motor 347m is provided instead of the weight 146 and the support member 145 of the first embodiment. The electric motor 347m is connected to the vehicle body controller 150 and the power supply device 199 (see FIG. 1). The electric motor 347m rotates by the electric power supplied from the power supply device 199. The rotation direction and rotation speed of the electric motor 347m are controlled based on a control signal from the vehicle body controller 150.

[0098] The output shaft of the electric motor 347m is fixed to the rotation shaft 142. Further, the rotation shaft 142 is fixed to a pair of connection brackets 344 provided on the takeoff / landing platform 141. Note that through holes through which the rotation shaft 142 is inserted are formed in the pair of support plates 143. For this reason, when the electric motor 347m rotates, the rotation shaft 142 and the takeoff / landing platform 141 rotate integrally.

[0099] The vehicle body controller 150 levels the takeoff / landing platform 141 at least when the drone 180 takes off from the takeoff / landing device 340 and when the drone 180 lands on the takeoff / landing device 340 by controlling the electric motor 347m of the horizontal mechanism 347. For example, when the control mode is switched from the standby mode to the takeoff mode, the vehicle body controller 150 rotates the takeoff / landing platform 141 by the electric motor 347m based on the postures of the work device 6 and the vehicle body 4 to level the takeoff / landing platform 141. When the control mode is switched from the takeoff mode to the follow mode, the vehicle body controller 150 rotates the takeoff / landing platform 141 by the electric motor 347m to set the takeoff / landing platform 141 in the stored posture. The stored posture means a posture in which the takeoff / landing platform 141 is parallel to the back plate 8c of the middle arm 8. When the control mode is switched from the follow mode to the landing mode, the vehicle body controller 150 rotates the takeoff / landing platform 141 by the electric motor 347m based on the postures of the work device 6 and the vehicle body 4 to level the takeoff / landing platform 141. When the control mode is switched from the landing mode to the standby mode, the vehicle body controller 150 rotates the takeoff / landing platform 141 by the electric motor 347m to set the takeoff / landing platform 141 in the stored posture.

[0100] In this configuration, the takeoff / landing platform 141 is in the stored posture in situations other than when the drone 180 takes off from the takeoff / landing device 340 and when the drone 180 lands on the takeoff / landing device 340. Therefore, the distance to the position farthest from the work device 6 in the takeoff / landing device 340 can be shortened. As a result, when the work device 6 is operating, the contact risk between the takeoff / landing device 340 and the surrounding structures of the work device 6 can be reduced.

[0101] <Modification Example 1-2> In the above Modification Example 1-1, an example of operating the takeoff / landing platform 141 between the horizontal posture and the storage posture was described. However, the change to the storage posture may not be made. In this modification example, when the control mode is switched from the standby mode to the takeoff mode, and when the control mode is switched from the follow mode to the landing mode, the vehicle body controller 150 controls the takeoff / landing platform 141 to be in the horizontal posture in the same manner as in Modification Example 1-1. On the other hand, the vehicle body controller 150 does not control the electric motor 347m when the control mode is switched from the takeoff mode to the follow mode and when the control mode is switched from the landing mode to the standby mode, respectively.

[0102] With this configuration, the opportunity to drive the electric motor 347m can be reduced, so that energy consumption can be suppressed.

[0103] The vehicle body controller 150 according to the above Modification Example 1-1 and Modification Example 1-2 controls the drone 180, the fixing device 149, and the leveling mechanism 347 based on the instructions from the takeoff switch 30a and the landing switch 30b which are indicating devices. When the takeoff of the drone 180 is instructed by the takeoff switch 30a in a state where the drone 180 is fixed to the takeoff / landing platform 141 by the fixing device 149, the vehicle body controller 150 according to the above Modification Example 1-1 and Modification Example 1-2 levels the takeoff / landing platform 141 by the leveling mechanism 347, releases the fixing of the drone 180 by the fixing device 149, and causes the drone 180 to take off. Also, when the landing of the drone 180 is instructed by the landing switch 30b in a state where the drone 180 is flying, the vehicle body controller 150 according to the above Modification Example 1-1 and Modification Example 1-2 levels the takeoff / landing platform 141 by the leveling mechanism 347, lands the drone 180 on the takeoff / landing platform 141, and fixes the drone 180 to the takeoff / landing platform 141 by the fixing device 149.

[0104] According to this configuration, the same operational effects as those of the above embodiment can be obtained. Since the takeoff / landing platform 141 is leveled by the electric motor 347m, the surface of the takeoff / landing platform 141 can be made more accurately horizontal than in the above embodiment.

[0105] <Modification Example 2> In the above embodiment, an example in which the fixing device 149 includes an electromagnet chuck (magnetic chuck table) 149a has been described, but the present invention is not limited to this. Instead of the electromagnet chuck 149a, an electromagnet that generates a magnetic force by energization and enters an adsorption state may be provided. Further, the fixing method of the drone 180 is not limited to the fixing method by magnetic force. For example, a method of clamping the drone 180 by an electric clamp may be adopted as the fixing method. The electric clamp includes a pair of clamping plates that clamp the drone 180. The electric clamp is configured to be able to adjust the distance between the pair of clamping plates by moving at least one of the pair of clamping plates.

[0106] <Modification Example 3> In the above embodiment, an example in which the fixing device 149 is provided in the attaching / detaching device 140 has been described. However, the fixing device 149 only needs to be provided on at least one of the attaching / detaching device 140 and the drone 180. For example, an electric clamp type fixing device may be provided on the drone 180, and a column to be clamped by the electric clamp may be provided on the landing base 141. Note that the fixing device may be provided on both the attaching / detaching device 140 and the drone 180.

[0107] <Modification Example 4> In the above embodiment, an example in which the operation determination of the working device 6, the slewing body 5, and the traveling body 2 is performed based on the operation amounts of the operating devices (31, 32, 33, 34, 35, 36) detected by the vehicle operation detection device 160, and various controls are executed based on the determination result has been described, but the present invention is not limited to this.

[0108] <Modification Example 4-1> The vehicle controller 150 may determine, for example, whether the working device 6, the slewing body 5, and the traveling body 2 are operating based on the detection result of the attitude detection device 50. For example, the vehicle controller 150 determines that the working device 6 is operating when the angular velocity of the boom 7 detected by the attitude detection device 50 is equal to or greater than a predetermined threshold value.

[0109] <Modification Example 4-2> The vehicle body controller 150 may determine whether the working device 6, the slewing body 5, and the traveling body 2 are in an operable state based on, for example, the operation position of the gate lock lever 37, and execute various controls based on the determination result. When the gate lock lever 37 is operated to the locked position, the vehicle body controller 150 determines that the working device 6, the slewing body 5, and the traveling body 2 are not in an operable state. When the gate lock lever 37 is operated to the unlocked position, the vehicle body controller 150 determines that the working device 6, the slewing body 5, and the traveling body 2 are in an operable state.

[0110] When the drone 180 is fixed to the takeoff / landing platform 141 by the fixing device 149 and the working device 6, the slewing body 5, and the traveling body 2 are in an operable state, the vehicle body controller 150 maintains the fixing of the drone 180 by the fixing device 149 even if the takeoff of the drone 180 is instructed by the takeoff switch 30a. When the drone 180 is fixed to the takeoff / landing platform 141 by the fixing device 149, the working device 6, the slewing body 5, and the traveling body 2 are not in an operable state, and the takeoff of the drone 180 is instructed by the takeoff switch 30a, the vehicle body controller 150 releases the fixing of the drone 180 by the fixing device 149 and allows the drone 180 to take off.

[0111] When the working device 6, the slewing body 5, and the traveling body 2 are in an operable state, the vehicle body controller 150 does not land the drone 180 on the takeoff / landing platform 141 and maintains the flight of the drone 180 even if the landing of the drone 180 is instructed by the landing switch 30b. When the working device 6, the slewing body 5, and the traveling body 2 are not in an operable state and the landing of the drone 180 is instructed by the landing switch 30b, the vehicle body controller 150 lands the drone 180 on the takeoff / landing platform 141 and fixes the drone 180 to the takeoff / landing platform 141 by the fixing device 149.

[0112] According to this modification example, the same operational effects as those of the above-described embodiment can be obtained.

[0113] <Modification Example 5> The arrangement locations of the transmitting and receiving devices 140 and 240 and the cable fixing portion 130 are not limited to the examples described in the above embodiment. In the first embodiment, the cable fixing portion 130 was provided on the tip side (breaker 10 side) of the working device 6 rather than the transmitting and receiving device 140, but the cable fixing portion 130 may be provided on the base end side (swivel body 5 side) of the working device 6 rather than the transmitting and receiving device 140.

[0114] Also, in the first embodiment, the transmitting and receiving device 140 and the cable fixing portion 130 were provided on the back plate 8c of the middle arm 8, but the arrangement locations of the transmitting and receiving device 140 and the cable fixing portion 130 are not limited thereto. The transmitting and receiving device 140 may be arranged on any one of the arm 9, the middle arm 8, and the boom 7. Also, the cable fixing portion 130 may be arranged on any one of the arm 9, the middle arm 8, and the boom 7. For example, the cable fixing portion 130 may be arranged at the base end portion of the arm 9, and the transmitting and receiving device 140 may be arranged at the tip end portion of the boom 7. Also, the transmitting and receiving device 140 may be provided on either the left or right side surface of the working device 6. Similarly, the cable fixing portion 130 may be provided on either the left or right side surface of the working device 6. Note that in the disassembling machine 1 described in the above embodiment, the working device 6 may be folded and the vehicle may be parked in a posture where the back surface of the arm 9 is in contact with the ground. Therefore, when the transmitting and receiving device 140 and the cable fixing portion 130 are provided on the arm 9, it is preferable to provide the transmitting and receiving device 140 and the cable fixing portion 130 on the side surface rather than the back surface of the arm 9.

[0115] <Modification Example 6> In the above-described embodiment, an example has been described in which the power supply device 199 is provided on the upper surface of the building 12 and the second cable 192 is wired along the left side surface of the working device 6. However, the installation location of the power supply device 199 and the wiring route of the second cable 192 are not limited to the above-described embodiment. For example, the power supply device 199 may be provided on the upper surface of the cab 11, or the second cable 192 may be wired along the rear surface of the working device 6. Note that the power supply device 199 is configured to include at least one of a battery and a generator, for example.

[0116] <Modification Example 7> In the above-described embodiment, an example has been described in which the takeoff switch 30a and the landing switch 30b are provided in the cab 11. However, the takeoff switch 30a and the landing switch 30b may be provided in a remote control device operated by an operator. The operator operates the takeoff switch 30a and the landing switch 30b of the remote control device outside the dismantling machine 1. When the takeoff switch 30a of the remote control device is operated, the remote control device transmits a takeoff instruction signal instructing the takeoff of the drone 180 to the vehicle body controller 150. When the landing switch 30b of the remote control device is operated, the remote control device transmits a landing instruction signal instructing the landing of the drone 180 to the vehicle body controller 150.

[0117] <Modification Example 8> After the landing command is output in step S185 of FIG. 13, the vehicle body controller 150 determines whether the working device 6, the slewing body 5, and the traveling body 2 are operating during the period until the completion of landing is determined (Yes in S190). If it is determined that at least any one of the working device 6, the slewing body 5, and the traveling body 2 is operating, the control mode may be returned from the landing mode to the follow-up mode. Thereby, when the drone 180 lands, damage to the drone 180 caused by contact between the working device 6 and the drone 180 can be prevented.

[0118] <Modification Example 9> In the second embodiment, an example in which a winch 260 having an electric motor 262 as a drive source is employed as a winding device for winding the first cable 191 has been described. However, the configuration of the winding device is not limited to this. For example, the winding device may be configured to be able to wind the first cable 191 by utilizing an elastic force such as a spring.

[0119] <Variant Example 10> In the above embodiment, an example in which the present invention is applied to the disassembling machine 1 in which the middle arm 8 is provided between the boom 7 and the arm 9 has been described. However, the configuration of the disassembling machine 1 is not limited to this. The present invention may be applied to, for example, a disassembling machine not provided with the middle arm 8. Further, the working machine is not limited to the case of being the disassembling machine 1. The present invention can be applied to various working machines that perform work at the tip of the working device 6, such as a hydraulic excavator in which the attachment attached to the tip of the working device 6 is a bucket.

[0120] As described above, the embodiments of the present invention have been described. However, the above embodiments merely show a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

Explanation of Reference Numerals

[0121] 1…Demolition machine (working machine), 2…Traveling body, 3…Traveling motor (hydraulic actuator), 4…Vehicle body, 5…Slewing body, 6…Working device, 7…Boom, 7a…Boom cylinder (hydraulic cylinder, hydraulic actuator), 8…Middle arm, 8c…Rear panel, 8p…Middle arm pin, 8s…Middle arm cylinder (hydraulic cylinder, hydraulic actuator), 9…Arm, 9a…Arm cylinder (hydraulic cylinder, hydraulic actuator), 9p…Arm pin, 10…Crusher, 10a…Attachment cylinder (hydraulic cylinder, hydraulic actuator), 10p…Attachment pin, 11…Cab (driver's cab), 12…Building (machine room), 13…Slewing motor (hydraulic actuator), 30…Flight operation detection device, 30a…Takeoff switch (operation switch), 30b…Landing switch (operation switch), 31…Operation lever (operation device), 32…Operation lever (operation device), 33…Travel pedal (operation device), 34…Travel pedal (operation device), 35…Operation pedal (operation device), 36…Operation pedal (operation device), 37…Gate lock lever, 38…Console panel (input device), 39…Display device, 50…Attitude detection device, 51…Communication device, 60…Vehicle body position detection device, 70…Flying body position detection device, 100…Controller, 101…Processing device, 102…Non-volatile memory (storage device), 103…Volatile memory (storage device), 111…Flight operation determination unit, 112…Operation determination unit, 113…Mode setting unit, 114…Fixed control unit, 115…Flight control unit, 130…Cable fixing part, 140…Takeoff and landing device, 141…Takeoff and landing platform, 142…Rotation axis, 143…Support plate, 144…Link bracket, 145…Support member, 146…Counterweight, 147…Leveling mechanism, 149…Fixing device, 149a…Permanent electromagnetic chuck (magnetic chuck), 150…Vehicle body controller (control device), 160…Vehicle operation detection device, 180…Drone (unmanned flying body), 182…Rotary wing, 183…Suction part, 185…Flight controller, 186…Communication device, 187…Photographing device, 190…Power supply cable, 191…First cable, 192…Second cable, 199…Power supply device, 216…Winch control unit, 240…Takeoff and landing device, 244…Link bracket, 247…Leveling mechanism, 250…Vehicle body controller (control device), 260…Winch (winding device), 261…Drum, 262…Electric motor, 263…Winding barrel, 264…Flange, 340…Takeoff and landing device347…Horizontal mechanism, 347m…Electric motor,

Claims

1. A vehicle body, a working device attached to the vehicle body, a power supply device attached to the vehicle body, and a work machine comprising a drone that flies by power supplied from the power supply device via a power supply cable. In the work machine, the working device is provided with a landing / takeoff device having a landing / takeoff platform on which the drone lands and takes off, and a cable fixing part for fixing the power supply cable. At least one of the landing / takeoff device and the drone is provided with a fixing device for fixing the drone to the landing / takeoff platform. The landing / takeoff device has a leveling mechanism for leveling the landing / takeoff platform at least when the drone takes off from the landing / takeoff device and when the drone lands on the landing / takeoff device. A work machine characterized by the above.

2. In the work machine according to Claim 1, an instruction device for instructing takeoff and landing of the drone, and a control device for controlling the drone and the fixing device based on an instruction from the instruction device are provided. The vehicle body has a traveling body and a revolving body rotatably provided with respect to the traveling body. The control device determines whether the working device, the revolving body, and the traveling body are operating. When at least any one of the working device, the revolving body, and the traveling body is operating, even if the instruction device instructs the landing of the drone, the drone is not landed on the landing / takeoff platform, and the flight of the drone is maintained. When none of the working device, the revolving body, and the traveling body is operating and the instruction device instructs the landing of the drone, the drone is landed on the landing / takeoff platform, and the drone is fixed to the landing / takeoff platform by the fixing device. A work machine characterized by the above.

3. In the work machine according to Claim 1, an instruction device for instructing takeoff and landing of the drone, and a control device for controlling the drone and the fixing device based on an instruction from the instruction device are provided. The vehicle body has a traveling body and a revolving body rotatably provided with respect to the traveling body. The control device determines whether the working device, the revolving body, and the traveling body are operating. In a state where the unmanned aircraft is fixed to the takeoff / landing platform by the fixing device, when at least any one of the working device, the revolving body, and the traveling body is operating, even if the takeoff of the unmanned aircraft is instructed by the instruction device, the fixing of the unmanned aircraft by the fixing device is maintained. In a state where the unmanned aircraft is fixed to the takeoff / landing platform by the fixing device, when none of the working device, the revolving body, and the traveling body is operating and the takeoff of the unmanned aircraft is instructed by the instruction device, the fixing of the unmanned aircraft by the fixing device is released and the unmanned aircraft is made to take off. A working machine characterized by the above.

4. In the working machine according to claim 1, The cable fixing portion is provided on the tip side of the working device rather than the landing / takeoff device. A working machine characterized by the above.

5. In the working machine according to claim 1, The leveling mechanism Has a rotating shaft for rotatably holding the takeoff / landing platform, And a weight for holding the takeoff / landing platform in a horizontal posture. A working machine characterized by the above.

6. In the working machine according to claim 1, It is provided with a control device for controlling the leveling mechanism of the landing / takeoff device, The leveling mechanism Has a rotating shaft for rotatably holding the takeoff / landing platform, And an electric motor for rotating the takeoff / landing platform via the rotating shaft, The control device levels the takeoff / landing platform by controlling the electric motor. A working machine characterized by the above.

7. In the working machine according to claim 6, It is provided with an instruction device for instructing the takeoff and landing of the unmanned aircraft, The control device controls the unmanned aircraft, the fixing device, and the leveling mechanism based on the instruction by the instruction device, The control device In a state where the unmanned aircraft is fixed to the takeoff / landing platform by the fixing device, when the takeoff of the unmanned aircraft is instructed by the instruction device, the leveling mechanism levels the takeoff / landing platform, releases the fixing of the unmanned aircraft by the fixing device, and makes the unmanned aircraft take off. When the landing of the unmanned aircraft is instructed by the instruction device while the unmanned aircraft is flying, the leveling mechanism levels the takeoff / landing platform, lands the unmanned aircraft on the takeoff / landing platform, and fixes the unmanned aircraft to the takeoff / landing platform by the fixing device. A working machine characterized by the above.

8. In the working machine according to claim 1, the cable fixing part is provided on a winding device capable of winding a power supply cable connected to the unmanned aerial vehicle, and the working machine is characterized by this.

9. In the working machine according to claim 5, the cable fixing part is provided on a winding device capable of winding a power supply cable connected to the unmanned aerial vehicle, the winding device is attached to the takeoff / landing platform so that the center of gravity of the winding device is below the rotation axis and functions as the counterweight, and the working machine is characterized by this.

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